ethernet server function - consecutive commands

Hi,

I am implementing a library in C++ to communicate with the robot (YRC1000) through the Ethernet Server Function.

Everything is going nice but only one point is not perfect.

It should be possible to create a socket, send multiple commands (with their corresponding responses) and close (see HW1483358 page 262), but I am unable to do it. Instead, I have to create a socket each time, send command, receive response, and close socket, reopen the socket, next command, and so on. It is doable, but not efficient, specially since I should be able to do it.

Has anyone found this or has actually been able to send consecutive commands?

Thx in advance!

Hi,

Can you point to the specific pages?

I have read the HW1483358 manual, and seems to me that there are indeed some spots with multiple-commands-processing references.

For example:

• page 216: "Automatic Close of Socket ... When the command execution for the specified number of times is completed at multiple commands execution"
• page 222: "If multiple commands need to be processed in a row, ..."
• page 262: "8.3.3.4 Continuous Execution of Multiple Command": There is actually a picture depicting the call-response cycle for a execution of two consecutive commands using the Ethernet Server Function. This is actually the best example.